FLS-Based Nonuniform Trajectory Tracking AILC for Uncertain Nonlinear Systems with Nonsymmetric Dead-Zone Input and Initial State Error

This paper proposes an AILC method for uncertain nonlinear system to solve different target tracking problems. The method uses fuzzy logic systems (FLS) to approximate every uncertain term in systems. All closed-loop signals are bounded on 0,T according to the Lyapunov theory. A time-varying boundary layer and a typical convergent series are introduced to handle initial state error, unknown bounds of errors, and nonuniform target tracking, respectively. The result is that the tracking error’s norm can converge to a small neighborhood along iteration increasing asymptotically. Finally, the simulation results of mass-spring mechanical system show the correctness of the theory and validity of the method.